State Feedback Designs for Nonlinear Systems
In this chapter, we further the study of adaptive actuator failure compensation control to nonlinear systems with parameter uncertainties. We fisrt develop adaptive control solutions to parametric-strict-feedback systems without zero dynamics in the presence of actuator failures in Section 10.1. The actuator failure compensation problem is characterized in terms of two actuation models, and output matching conditions for the two actuation models are derived. Adaptive compensation control schemes are developed for parametric-strict-feedback systems without zero dynamics based on matching designs for two different actuation models. Closed-loop signal boundedness and asymptotic output tracking are ensured by the developed adaptive control schemes. Simulation results for the control of an aircraft wing-rock model with augmented actuators verifies the desired performance of our adaptive designs.
KeywordsAdaptive Design Output Tracking Zero Dynamic Adaptive Control Scheme Actuator Failure
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